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We stayed at Bicheno a month ago and went on a tour to see the penguins. The beach where they come back to their burrows is closed off to the public while they return. The tours are allowed in the area so you can get quite close to them. They only come home when it is dark and the tour guides have torches which don't seem to worry them. Apparently depending on time of year the numbers returning varies.
We stayed at Diamond Island Resort and the tour leaves from the bottom garden. We heard the penguins going back to sea about 3.30am ( before light) and they made a lot of noise. Some come right into the garden.
The restaurant at the resort was very good.
We stayed at Bicheno and Swansea but next time would stay nearer Coles Bay to access Frecinet National Park. It is beautiful and has short, medium or longer walks. I was interested in "Edge of the Bay " accommodation although we drove in and out without seeing the cabins.

You can easily access Bicheno for a penguin tour from Cole's Bay, thereby not having to overnight in Bicheno (unless you just want to).

We stayed at a lovely B&B in Cole's Bay called Pelican Bay B&B - the owner often lists on www.wotif.com. If you do go to Cole's Bay, be sure to have a meal at the Iluka Tavern - we had some of the best meals of our trip there. The owner of Pelican Bay will happily book the penguin tour for you too.